Control of a Brachiation Robot with a Single Underactuated Joint Using Nonlinear Model Predictive Control
نویسندگان
چکیده
In this paper we present the control of an underactuated brachiation robot with only one unactuated joint using the nonlinear model based predictive approach for the motion control. The robot used has 3 links, i. e., two arms and a body. We adopt the MPC to control the underactuated brachiation robot due to its advantages, mainly the construction of an optimal stabilizing control law and due to its ability to consider, in a direct way, the constraints into the optimization problem. At the end we present computational simulations with their respective results and we highlight some important considerations.Copyright c ©IFAC 2007
منابع مشابه
Predictive Control of an Underactuated Brachiation Robot
This work is focused on the position control of an underactuated brachiation mobile robot with 3 links. We present the modeling of the dynamics of the robot and introduce the application of the nonlinear model-based predictive control (NMPC) to such a system. The robot has 3 revolute joints but only one of them is actuated, i. e., the robot has less control inputs than degrees of freedom. The i...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملEliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic
In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....
متن کاملTime-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection
Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...
متن کامل